Seminar: Compliant control for multi-contact interactions.
Dott. Ing. Maximo Roa
Abstract: Passivity-based impedance controllers, based on joint torque sensing, have been traditionally applied to manipulation tasks. Experiments on grasp and reach-and-grasp will be presented in this talk, showing how the controller can cope with positional uncertainties of the object. The same framework is applied to obtain a whole-body posture controller in the robot TORO, a humanoid robot developed at DLR based on the technology of the KUKA-DLR LBR (Lightweight robot arm). This posture controller is extended for a multi-contact scenario, thus obtaining robust balancing behaviours even with uncertainty in the supporting surface.